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<a href="fcl__collision__object__group_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_collision_object_group.cc</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Apr 29, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object__group_8h.html">collision/solvers/fcl/fcl_collision_object_group.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__distance__queries_8h.html">collision/solvers/fcl/fcl_distance_queries.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__helpers_8h.html">collision/solvers/fcl/fcl_helpers.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4f3ef7b893b61d4aa89dbe2be26096b2">   14</a></span>&#160;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4f3ef7b893b61d4aa89dbe2be26096b2">FCLCollisionObjectGroup::FCLCollisionObjectGroup</a>(</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *cont, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *parent,</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">IFCLCollisionObjectGroup</a> *parent_interface)</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    : m_CollisionContainer(cont), m_parent(parent),</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      m_parent_interface(parent_interface) {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3b2c9b72ec6215d29ad5a44286031036">invalidateManagerCache</a>();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a7e8f26cfd260345afbed500bc48f8d46">invalidateManagerInstanceCache</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#abc42ba185dbdf13e337186634ead8bca">m_broadphase_factory</a> = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a73a91acb12cdb420fd1f6b628a3125c7">collision::getDefaultBroadphaseFactory</a>();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;}</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#ada852c49fd6873ac766a54728f0bb4b9">   23</a></span>&#160;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4f3ef7b893b61d4aa89dbe2be26096b2">FCLCollisionObjectGroup::FCLCollisionObjectGroup</a>(</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;copy) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#af575bbc9d96e5c6e96e5a6f43255e890">m_CollisionContainer</a> = copy.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#af575bbc9d96e5c6e96e5a6f43255e890">m_CollisionContainer</a>;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3118516dd877048d2638237f7db7573a">m_parent</a> = copy.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3118516dd877048d2638237f7db7573a">m_parent</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a394c105d8aa66a8ef7c6bcfd93d5a32f">m_parent_interface</a> = copy.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a394c105d8aa66a8ef7c6bcfd93d5a32f">m_parent_interface</a>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3b2c9b72ec6215d29ad5a44286031036">invalidateManagerCache</a>();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a7e8f26cfd260345afbed500bc48f8d46">invalidateManagerInstanceCache</a>();</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#abc42ba185dbdf13e337186634ead8bca">m_broadphase_factory</a> = copy.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#abc42ba185dbdf13e337186634ead8bca">m_broadphase_factory</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a517424fe5c8ef7270a2f1ae7818abb75">   34</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a517424fe5c8ef7270a2f1ae7818abb75">FCLCollisionObjectGroup::replaceBroadphaseFactory</a>(</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a443ba6b0825282536c9a329d950b9837">BroadPhaseManagerFactoryConstPtr</a> broadphase_factory) {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#abc42ba185dbdf13e337186634ead8bca">m_broadphase_factory</a> = broadphase_factory;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a7e8f26cfd260345afbed500bc48f8d46">invalidateManagerInstanceCache</a>();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3b2c9b72ec6215d29ad5a44286031036">invalidateManagerCache</a>(); <span class="comment">// recreate BV hierarchy when broadphase manager is</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                            <span class="comment">// replaced</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#aa67176045830cc7f319e468a57277ba9">   43</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#aa67176045830cc7f319e468a57277ba9">FCLCollisionObjectGroup::calculateDistance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                                               <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                                               <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> tolerance)<span class="keyword"> const </span>{</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj2_entity;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> obj2_entity_type =</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(&amp;obj2, obj2_entity);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">int</span> result = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">fcl_primitive_queries::FCL_CalculateDistance</a>(</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        *<span class="keyword">this</span>, *(static_cast&lt;const FCLCollisionObject *&gt;(obj2_entity)),</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, tolerance);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>) {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">int</span> result = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">fcl_primitive_queries::FCL_CalculateDistance</a>(</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        *<span class="keyword">this</span>, *(static_cast&lt;const FCLCollisionObjectGroup *&gt;(obj2_entity)),</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, tolerance);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  } <span class="keywordflow">else</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a63f629697ab26d23fc1327a3dcc53f4d">   64</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a63f629697ab26d23fc1327a3dcc53f4d">FCLCollisionObjectGroup::calculateDistanceNegTolerance</a>(</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <span class="keywordtype">double</span> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052">FCL_TOLERANCE_CHECK_TYPE</a> check_type, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> tolerance)<span class="keyword"> const </span>{</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj2_entity;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> obj2_entity_type =</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(&amp;obj2, obj2_entity);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">fcl_primitive_queries::FCL_DistanceTolerance</a>(</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        *<span class="keyword">this</span>, *(static_cast&lt;const FCLCollisionObject *&gt;(obj2_entity)),</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, check_type, tolerance);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (obj2_entity_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">fcl_primitive_queries::FCL_DistanceTolerance</a>(</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        *<span class="keyword">this</span>, *(static_cast&lt;const FCLCollisionObjectGroup *&gt;(obj2_entity)),</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, check_type, tolerance);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  } <span class="keywordflow">else</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">int FCLCollisionObjectGroup::ToleranceCheck(CollisionObjectConstPtr obj2, bool&amp;</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">result, double&amp; distance, FCL_TOLERANCE_CHECK_TYPE check_type, FCL_PRECISION</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">tolerance) const</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">SolverEntity_FCL* obj2_entity;</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">FCL_COLLISION_ENTITY_TYPE obj2_entity_type = get_object_fcl_entity_type(obj2,</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">obj2_entity);</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">if (obj2_entity_type == COLLISION_ENTITY_TYPE_FCL_OBJECT)</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">int tolerance_result = fcl_primitive_queries::FCL_DistanceTolerance(*this,</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">*(static_cast&lt;const FCLCollisionObject*&gt;(obj2_entity)), distance,check_type,</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">tolerance); if (tolerance_result &gt;= 0)</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="comment">if (distance &gt; -1 * (abs(tolerance)))</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">result = true;</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">else</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">result = false;</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">return tolerance_result;</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">else if (obj2_entity_type == COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP)</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">int tolerance_result = fcl_primitive_queries::FCL_DistanceTolerance(*this,</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment">*(static_cast&lt;const FCLCollisionObjectGroup*&gt;(obj2_entity)), distance,</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">check_type, tolerance); if (distance &gt; -1 * (abs(tolerance))) result = true;</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">else</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">result = false;</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">return tolerance_result;</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">else</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">return -1;</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">  119</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">FCLCollisionObjectGroup::getManager_fcl</a>(</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *&amp;mngr)<span class="keyword"> const </span>{</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="comment">// todo: add a shared pointer for better concurrency?</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">if</span> (!manager_cached) {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">if</span> (!manager_instance_cached) {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a571ebef2baafa318a7a745625878512d">m_group_manager</a> =</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          std::unique_ptr&lt;fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt;&gt;(</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;              <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#abc42ba185dbdf13e337186634ead8bca">m_broadphase_factory</a>-&gt;instantiateBroadphaseManager());</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      manager_instance_cached = <span class="keyword">true</span>;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    }</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a571ebef2baafa318a7a745625878512d">m_group_manager</a>-&gt;clear();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    std::vector&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt; *&gt; objects;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a394c105d8aa66a8ef7c6bcfd93d5a32f">m_parent_interface</a>-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#af4b7eae4f1cacf9ef0eed1b5f3f6bdba">getCollisionObjects</a>(objects);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a571ebef2baafa318a7a745625878512d">m_group_manager</a>-&gt;registerObjects(objects);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a571ebef2baafa318a7a745625878512d">m_group_manager</a>-&gt;setup();</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    manager_cached = <span class="keyword">true</span>;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  mngr = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a571ebef2baafa318a7a745625878512d">m_group_manager</a>.get();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3b2c9b72ec6215d29ad5a44286031036">  139</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3b2c9b72ec6215d29ad5a44286031036">FCLCollisionObjectGroup::invalidateManagerCache</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  manager_cached = <span class="keyword">false</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a7e8f26cfd260345afbed500bc48f8d46">  142</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a7e8f26cfd260345afbed500bc48f8d46">FCLCollisionObjectGroup::invalidateManagerInstanceCache</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  manager_instance_cached = <span class="keyword">false</span>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a3b2c9b72ec6215d29ad5a44286031036"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3b2c9b72ec6215d29ad5a44286031036">collision::solvers::solverFCL::FCLCollisionObjectGroup::invalidateManagerCache</a></div><div class="ttdeci">void invalidateManagerCache(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00139">fcl_collision_object_group.cc:139</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_container_html"><div class="ttname"><a href="classcollision_1_1_i_collision_container.html">collision::ICollisionContainer</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__container_8h_source.html#l00014">i_collision_container.h:14</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a8994da1043cce29315492db75858e052"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052">collision::solvers::solverFCL::FCL_TOLERANCE_CHECK_TYPE</a></div><div class="ttdeci">FCL_TOLERANCE_CHECK_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00020">fcl_decl.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a944ca99de57239a36ad49f351565d580"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">collision::solvers::solverFCL::fcl_primitive_queries::FCL_CalculateDistance</a></div><div class="ttdeci">int FCL_CalculateDistance(const FCLCollisionObject &amp;obj1, const FCLCollisionObject &amp;obj2, FCL_PRECISION &amp;distance, double distance_tolerance=1e-6)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__queries_8cc_source.html#l00012">fcl_distance_queries.cc:12</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a73a91acb12cdb420fd1f6b628a3125c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a73a91acb12cdb420fd1f6b628a3125c7">collision::solvers::solverFCL::getDefaultBroadphaseFactory</a></div><div class="ttdeci">BroadPhaseManagerFactoryConstPtr getDefaultBroadphaseFactory(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__broadphase__manager__factories_8cc_source.html#l00020">fcl_broadphase_manager_factories.cc:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a443ba6b0825282536c9a329d950b9837"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a443ba6b0825282536c9a329d950b9837">collision::solvers::solverFCL::BroadPhaseManagerFactoryConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const BroadPhaseManagerFactory &gt; BroadPhaseManagerFactoryConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="fcl__broadphase__manager__factory_8h_source.html#l00035">fcl_broadphase_manager_factory.h:35</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00017">fcl_entity_type.h:17</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00018">fcl_entity_type.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group_html_af4b7eae4f1cacf9ef0eed1b5f3f6bdba"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#af4b7eae4f1cacf9ef0eed1b5f3f6bdba">collision::solvers::solverFCL::IFCLCollisionObjectGroup::getCollisionObjects</a></div><div class="ttdeci">virtual int getCollisionObjects(std::vector&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &amp;) const =0</div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">collision::solvers::solverFCL::FCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00027">fcl_collision_object_group.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a571ebef2baafa318a7a745625878512d"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a571ebef2baafa318a7a745625878512d">collision::solvers::solverFCL::FCLCollisionObjectGroup::m_group_manager</a></div><div class="ttdeci">std::unique_ptr&lt; fcl::BroadPhaseCollisionManager&lt; FCL_PRECISION &gt; &gt; m_group_manager</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00074">fcl_collision_object_group.h:74</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a7e8f26cfd260345afbed500bc48f8d46"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a7e8f26cfd260345afbed500bc48f8d46">collision::solvers::solverFCL::FCLCollisionObjectGroup::invalidateManagerInstanceCache</a></div><div class="ttdeci">void invalidateManagerInstanceCache(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00142">fcl_collision_object_group.cc:142</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a7d90202859129c9d32720480b3f02302"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">collision::solvers::solverFCL::fcl_primitive_queries::FCL_DistanceTolerance</a></div><div class="ttdeci">int FCL_DistanceTolerance(const FCLCollisionObjectGroup &amp;group1, const FCLCollisionObject &amp;obj2, FCL_PRECISION &amp;distance, FCL_TOLERANCE_CHECK_TYPE check_type=TOLERANCE_CHECK_NARROWPHASE, double distance_tolerance=1e-6)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__queries_8cc_source.html#l00127">fcl_distance_queries.cc:127</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00014">fcl_entity_type.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a4f3ef7b893b61d4aa89dbe2be26096b2"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a4f3ef7b893b61d4aa89dbe2be26096b2">collision::solvers::solverFCL::FCLCollisionObjectGroup::FCLCollisionObjectGroup</a></div><div class="ttdeci">FCLCollisionObjectGroup(const ICollisionContainer *, const CollisionObject *, const IFCLCollisionObjectGroup *parent_interface)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00014">fcl_collision_object_group.cc:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a3118516dd877048d2638237f7db7573a"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a3118516dd877048d2638237f7db7573a">collision::solvers::solverFCL::FCLCollisionObjectGroup::m_parent</a></div><div class="ttdeci">const CollisionObject * m_parent</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00071">fcl_collision_object_group.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_abc42ba185dbdf13e337186634ead8bca"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#abc42ba185dbdf13e337186634ead8bca">collision::solvers::solverFCL::FCLCollisionObjectGroup::m_broadphase_factory</a></div><div class="ttdeci">BroadPhaseManagerFactoryConstPtr m_broadphase_factory</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00075">fcl_collision_object_group.h:75</a></div></div>
<div class="ttc" id="namespacecollision_html_a5bc2e62fec3c4891d44fe2863d3d8102"><div class="ttname"><a href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">collision::distance</a></div><div class="ttdeci">std::size_t distance(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, DistanceResult &amp;res, const DistanceRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="distance__queries_8cc_source.html#l00092">distance_queries.cc:92</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">collision::solvers::solverFCL::IFCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object__group_8h_source.html#l00012">i_fcl_collision_object_group.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a517424fe5c8ef7270a2f1ae7818abb75"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a517424fe5c8ef7270a2f1ae7818abb75">collision::solvers::solverFCL::FCLCollisionObjectGroup::replaceBroadphaseFactory</a></div><div class="ttdeci">int replaceBroadphaseFactory(BroadPhaseManagerFactoryConstPtr broadphase_factory)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00034">fcl_collision_object_group.cc:34</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a63f629697ab26d23fc1327a3dcc53f4d"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a63f629697ab26d23fc1327a3dcc53f4d">collision::solvers::solverFCL::FCLCollisionObjectGroup::calculateDistanceNegTolerance</a></div><div class="ttdeci">int calculateDistanceNegTolerance(const CollisionObject &amp;obj2, double &amp;distance, FCL_TOLERANCE_CHECK_TYPE check_type=TOLERANCE_CHECK_NARROWPHASE, FCL_PRECISION tolerance=1e-6) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00064">fcl_collision_object_group.cc:64</a></div></div>
<div class="ttc" id="fcl__collision__object__group_8h_html"><div class="ttname"><a href="fcl__collision__object__group_8h.html">fcl_collision_object_group.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a976460fe4920622d95f89d477c8f4ad8"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">collision::solvers::solverFCL::get_object_fcl_entity_type</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type(const CollisionObject *obj2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00014">fcl_helpers.h:14</a></div></div>
<div class="ttc" id="fcl__distance__queries_8h_html"><div class="ttname"><a href="fcl__distance__queries_8h.html">fcl_distance_queries.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_aa67176045830cc7f319e468a57277ba9"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#aa67176045830cc7f319e468a57277ba9">collision::solvers::solverFCL::FCLCollisionObjectGroup::calculateDistance</a></div><div class="ttdeci">int calculateDistance(const CollisionObject &amp;obj2, FCL_PRECISION &amp;distance, FCL_PRECISION tolerance=1e-6) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00043">fcl_collision_object_group.cc:43</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_af575bbc9d96e5c6e96e5a6f43255e890"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#af575bbc9d96e5c6e96e5a6f43255e890">collision::solvers::solverFCL::FCLCollisionObjectGroup::m_CollisionContainer</a></div><div class="ttdeci">const ICollisionContainer * m_CollisionContainer</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00070">fcl_collision_object_group.h:70</a></div></div>
<div class="ttc" id="fcl__helpers_8h_html"><div class="ttname"><a href="fcl__helpers_8h.html">fcl_helpers.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ae5b7c160709b3db6237138bf7e719d9a"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">collision::solvers::solverFCL::FCL_PRECISION</a></div><div class="ttdeci">double FCL_PRECISION</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00014">fcl_decl.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a394c105d8aa66a8ef7c6bcfd93d5a32f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a394c105d8aa66a8ef7c6bcfd93d5a32f">collision::solvers::solverFCL::FCLCollisionObjectGroup::m_parent_interface</a></div><div class="ttdeci">const IFCLCollisionObjectGroup * m_parent_interface</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00072">fcl_collision_object_group.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a68852c711d2671871f96f087fb36e57c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">collision::solvers::solverFCL::FCLCollisionObjectGroup::getManager_fcl</a></div><div class="ttdeci">int getManager_fcl(fcl::BroadPhaseCollisionManager&lt; FCL_PRECISION &gt; *&amp;) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00119">fcl_collision_object_group.cc:119</a></div></div>
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